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Leila Bridgeman

Assistant Professor in the Thomas Lord Department of Mechanical Engineering and Materials Science
Thomas Lord Department of Mechanical Engineering and Materials Science
219 North Building, Box 103957, Durham, NC 27708
North Building, Office 129, 304RESEARCH Dr-Box 103957, Durham, NC 27708

Selected Publications


Systematic, Lyapunov-Based, Safe and Stabilizing Controller Synthesis for Constrained Nonlinear Systems

Journal Article IEEE Transactions on Automatic Control · May 1, 2024 A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers simultaneously. Nonconvex optimization problems are formulated on triangulate ... Full text Cite

Structured, Reduced-Order H2-Conic Control

Journal Article IEEE Transactions on Automatic Control · February 1, 2024 Practical controllers for large-scale systems must be low-order and sparsely communicating, as well as high-performing and robust to uncertainty. H2-conic design addresses the latter requirements where passivity and H∞ methods are inapplicable, but it has ... Full text Cite

Dissipative imitation learning for discrete dynamic output feedback control with sparse data sets

Journal Article International Journal of Robust and Nonlinear Control · January 1, 2024 Imitation learning enables synthesis of controllers for systems with complex objectives and uncertain plant models. However, ensuring an imitation learned controller is stable requires copious amounts of data and/or a known plant model. In this paper, we e ... Full text Cite

Switched systems with transient unsustainable modes: Stability and feasibility

Journal Article International Journal of Robust and Nonlinear Control · January 1, 2023 Externally switched systems have unique characteristics that make it is especially challenging to ensure their stability and feasibility. These challenges are exacerbated when the system contains modes with uncontrollable dynamics, tight input constraints, ... Full text Cite

Computationally Tractable Stability Criteria for Exogenously Switched Model Predictive Control

Journal Article IEEE Control Systems Letters · November 1, 2021 Although state-based switching is well-studied in the context of model predictive control (MPC), the theory for exogenous switches is less advanced. External switching affects many systems and is of growing importance due to the increasing use of networked ... Full text Cite

Constraint Enforcement via Tube-Based MPC Exploiting Switching Restrictions

Journal Article IEEE Control Systems Letters · November 1, 2021 Dwell-time restrictions are critical to overcoming infeasibility caused by arbitrary switches in constrained time-dependent switched systems, especially when the system equilibrium is mode dependent. However, existing approaches to enforce constraints are ... Full text Cite

Sparsity Promoting H-Conic Control

Journal Article IEEE Control Systems Letters · October 1, 2021 A controller is designed through an alternating direction method of multipliers (ADMM) algorithm to maximize sparsity while providing similar closed-loop $\mathscr {H}_{2}$ performance to an optimal 'target' controller and imposing conic bounds that ensure ... Full text Cite

Conic Sector Based Stability Criteria for Time-Delay Systems

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2021 A novel way to establish conic bounds for stable linear time-invariant (LTI) systems with time-varying state delays is proposed. Two linear matrix inequality (LMI) conditions are provided. Alone, they can be used as analysis tools, determining conic bounds ... Full text Cite

Iterative H2-conic controller synthesis

Journal Article International Journal of Robust and Nonlinear Control · July 25, 2019 This paper proposes a method to synthesize controllers that minimize an upper bound on the closed-loop H2-norm while imposing desired controller conic bounds. An initial conic controller is synthesized and iteratively improved. Conic sectors can be used to ... Full text Cite

Necessary and sufficient conditions for constraint satisfaction in switched systems using switch‐robust control invariant sets

Journal Article International Journal of Robust and Nonlinear Control · June 2019 SummaryThis paper studies the control of constrained systems whose dynamics and constraints switch between a finite set of modes over time according to an exogenous input signal. We define a new type of control invariant se ... Full text Cite

Norm- and Linear-Inequality-Constrained State Estimation: An LMI Approach

Conference 1st IEEE Conference on Control Technology and Applications · August 2017 Cite

Constraint Satisfaction for Switched Linear Systems with Restricted Dwell-Time

Conference 2017 American Control Conference · May 2017 Cite

Conic Bounds for Systems Subject to Delays

Journal Article IEEE Transactions on Automatic Control · April 2017 Full text Cite

A Comparative Study of Input-Output Stability Results

Journal Article IEEE Transactions on Automatic Control · 2017 Full text Cite

The Extended Conic Sector Theorem

Journal Article IEEE Transactions on Automatic Control · July 2016 Full text Cite

Strictly positive real and conic system syntheses using observers

Conference 2015 American Control Conference (ACC) · July 2015 Full text Cite

The minimum gain lemma

Journal Article International Journal of Robust and Nonlinear Control · 2015 Full text Cite

The exterior conic sector lemma

Journal Article International Journal of Control · 2015 Full text Cite

Systematic, Lyapunov-Based, Safe and Stabilizing Controller Synthesis for Constrained Nonlinear Systems

Journal Article IEEE Transactions on Automatic Control · May 1, 2024 A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers simultaneously. Nonconvex optimization problems are formulated on triangulate ... Full text Cite

Structured, Reduced-Order H2-Conic Control

Journal Article IEEE Transactions on Automatic Control · February 1, 2024 Practical controllers for large-scale systems must be low-order and sparsely communicating, as well as high-performing and robust to uncertainty. H2-conic design addresses the latter requirements where passivity and H∞ methods are inapplicable, but it has ... Full text Cite

Dissipative imitation learning for discrete dynamic output feedback control with sparse data sets

Journal Article International Journal of Robust and Nonlinear Control · January 1, 2024 Imitation learning enables synthesis of controllers for systems with complex objectives and uncertain plant models. However, ensuring an imitation learned controller is stable requires copious amounts of data and/or a known plant model. In this paper, we e ... Full text Cite

Switched systems with transient unsustainable modes: Stability and feasibility

Journal Article International Journal of Robust and Nonlinear Control · January 1, 2023 Externally switched systems have unique characteristics that make it is especially challenging to ensure their stability and feasibility. These challenges are exacerbated when the system contains modes with uncontrollable dynamics, tight input constraints, ... Full text Cite

Computationally Tractable Stability Criteria for Exogenously Switched Model Predictive Control

Journal Article IEEE Control Systems Letters · November 1, 2021 Although state-based switching is well-studied in the context of model predictive control (MPC), the theory for exogenous switches is less advanced. External switching affects many systems and is of growing importance due to the increasing use of networked ... Full text Cite

Constraint Enforcement via Tube-Based MPC Exploiting Switching Restrictions

Journal Article IEEE Control Systems Letters · November 1, 2021 Dwell-time restrictions are critical to overcoming infeasibility caused by arbitrary switches in constrained time-dependent switched systems, especially when the system equilibrium is mode dependent. However, existing approaches to enforce constraints are ... Full text Cite

Sparsity Promoting H-Conic Control

Journal Article IEEE Control Systems Letters · October 1, 2021 A controller is designed through an alternating direction method of multipliers (ADMM) algorithm to maximize sparsity while providing similar closed-loop $\mathscr {H}_{2}$ performance to an optimal 'target' controller and imposing conic bounds that ensure ... Full text Cite

Conic Sector Based Stability Criteria for Time-Delay Systems

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2021 A novel way to establish conic bounds for stable linear time-invariant (LTI) systems with time-varying state delays is proposed. Two linear matrix inequality (LMI) conditions are provided. Alone, they can be used as analysis tools, determining conic bounds ... Full text Cite

Iterative H2-conic controller synthesis

Journal Article International Journal of Robust and Nonlinear Control · July 25, 2019 This paper proposes a method to synthesize controllers that minimize an upper bound on the closed-loop H2-norm while imposing desired controller conic bounds. An initial conic controller is synthesized and iteratively improved. Conic sectors can be used to ... Full text Cite

Necessary and sufficient conditions for constraint satisfaction in switched systems using switch‐robust control invariant sets

Journal Article International Journal of Robust and Nonlinear Control · June 2019 SummaryThis paper studies the control of constrained systems whose dynamics and constraints switch between a finite set of modes over time according to an exogenous input signal. We define a new type of control invariant se ... Full text Cite

Norm- and Linear-Inequality-Constrained State Estimation: An LMI Approach

Conference 1st IEEE Conference on Control Technology and Applications · August 2017 Cite

Constraint Satisfaction for Switched Linear Systems with Restricted Dwell-Time

Conference 2017 American Control Conference · May 2017 Cite

Conic Bounds for Systems Subject to Delays

Journal Article IEEE Transactions on Automatic Control · April 2017 Full text Cite

A Comparative Study of Input-Output Stability Results

Journal Article IEEE Transactions on Automatic Control · 2017 Full text Cite

The Extended Conic Sector Theorem

Journal Article IEEE Transactions on Automatic Control · July 2016 Full text Cite

Strictly positive real and conic system syntheses using observers

Conference 2015 American Control Conference (ACC) · July 2015 Full text Cite

The minimum gain lemma

Journal Article International Journal of Robust and Nonlinear Control · 2015 Full text Cite

The exterior conic sector lemma

Journal Article International Journal of Control · 2015 Full text Cite

Conic-sector-based controller synthesis: Theory and experiments

Conference 2014 American Control Conference · June 2014 Full text Cite

The Minimum Gain Lemma

Conference 2014 American Control Conference · June 2014 Full text Cite

Conic-sector-based control to circumvent passivity violations

Journal Article International Journal of Control · 2014 Full text Cite

Saturated proportional derivative control of flexible-joint manipulators

Journal Article Robotics and Computer-Integrated Manufacturing · 2014 Full text Cite

Conic-Sector-based control to circumvent passivity violations

Conference 2013 American Control Conference · June 2013 Full text Cite

Stability and a posteriori error analysis of discontinuous Galerkin methods for linearized elasticity

Journal Article Computer Methods in Applied Mechanics and Engineering · 2011 Full text Cite